Range Sensor Parameters

This costmap layer implements a plugin that processes sonar, IR, or other 1-D sensors for collision avoidance.

<range layer> is the corresponding plugin name selected for this type.

<range layer>.enabled

Type	Default
bool	True

Description: Whether it is enabled.

<range layer>.topics

Type Default
vector<string>	[“”]

Description: Range topics to subscribe to.

Relative topics will be relative to the node’s parent namespace. For example, if you specify topics: [range1, /range2] in the range_layer of a local_costmap and you launch your bringup with a tb4 namespace:

User chosen namespace is tb4.
User chosen topics are [range1, /range2].
Topic will be remapped to /tb4/range1, without local_costmap, and /range2.
Use global topics such as /range2 if you do not wish the node namespace to apply.

<range layer>.phi

Type	Default
double	1.2

Description: Phi value.

<range layer>.inflate_cone

Type	Default
double	1.0

Description: Inflate the triangular area covered by the sensor (percentage).

<range layer>.no_readings_timeout

Type	Default
double	0.0

Description: If zero, this parameter has no effect. Otherwise if the layer does not receive sensor data for this amount of time, the layer will warn the user and the layer will be marked as not current.

<range layer>.clear_threshold

Type	Default
double	0.2

Description: Probability below which cells are marked as free.

<range layer>.mark_threshold

Type	Default
double	0.8

Description: Probability above which cells are marked as occupied.

<range layer>.clear_on_max_reading

Type	Default
bool	False

Description: Whether to clear the sensor readings on max range.

<range layer>.input_sensor_type

Type	Default
string	ALL

Description: Input sensor type is either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range).